A methodology for cloud robotics implementation based on open-source software : from human-robot interaction to autonomous applications
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Data
2020-11-26
Autores
Mello, Ricardo Carminati de
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Universidade Federal do Espírito Santo
Resumo
The advent of the cloud robotics paradigm has the potential to unleash a whole new generation of smart robotic devices by allowing robots to communicate with each other and with remote computing platforms to share experiences, sensor data, and to o oad heavy processing applications. This work explores cloud robotics by casting a light on key issues and proposing novel solutions to allow for the widespread adoption of cloud based functionality for research and commercial robots. We investigate the cloud robotics paradigm as an enabler to a series of applications and devices and question how the insertion of network and cloud technologies into such solutions might a ect the interaction between a robot and a human operating it and what are the limiting requirements for cloud-based solutions. We propose a reference architecture for cloud robotics paired with an integrated network solution to allow for uninterrupted connectivity in mobile robotics applications. Furthermore, we present an open communication framework to link robots and cloud platforms, and that suits a large range of applications. Finally, we introduce a methodology for cloud robotics implementation based on open-source software and commercial o-the-shelf devices. Such a methodology leverages our communication framework and provides a common standard that allows reproducing and benchmarking di erent cloud robotics works. Our methodology and communication framework are validated considering di erent applications and multiple cloud con gurations, showing the suitability of our approach and providing insight for other researchers and practitioners
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Engenharia elétrica , Robotica em nuvem , ROS , Sistemas ciber-fsicos , Dispositivos assistivos , Navegacao autonoma , Comunicacao sem fio , Cloud robotics , Cyber-physical systems , Assistive devices , Autonomous navigation , Wireless communication